2.
1 Vibration Analysis
Complex exponential notation on mechanical vibration
• The used of Complex Exponential Notation (CEN) is more related in
Vibration Amplitude. And when we say vibration amplitude it is the
maximum displacement or distance moved by a point on a vibrating
body or wave measured from its equilibrium position. It is equal to one-
half the length of the vibration path.
• Simple harmonic variations in time are most conveniently described
mathematically by means of a complex representation or notation, of
which are two forms: in one, only positive frequencies are recognized; in
the other which is more appropriate to analytical and numerical
frequency analysis technique, both positive and negative frequencies
are considered.
Linearization on Mechanical Vibrations
• The linearization of the equation of motion is most useful in the study of
stability and control. The linear form of the equations of motion leads to
simpler control algorithms, based in most cases on the solution of linear
differential equations. The assumption undertaken in the linearization
process deals with considering small changes in the generalized
coordinates x1, x2, ... , xn and in the final governing equations of
motion, neglecting the higher-order terms in x, x˙ and x¨.
Out of Phase
• A signal that has suffered phase distortion so that the sinusoidal
waveform has been unintentionally altered in phase, or periodic angle.
• A phrase used to characterize two or more signals whose phase
relationship with each other is such that when one is at its positive peak
the other is at (or near) its negative peak. This is also commonly
referred to as being 180 degrees out of phase.
• For example, if a motor is moving 180° out of phase form, or completely
opposite the pump it is coupled to then we can assume that a significant
amount of energy is being absorbed by the coupling.
Lags and Leads
• Lead-lag controls or compensators are pieces of programming in control
systems that improve frequency response.
• A lead control can increase a system’s stability or its response speed.
Also, lead is a way to shift the phase angle of the output curve before
the input curve. A lag control can reduce steady-state errors. Moreover,
lag is a way to shift the phase angle of the output curve after the input
curve.
Amplitude
• In physics, the maximum displacement or distance moved by a point on
a vibrating body or wave measured from its equilibrium position. It is
equal to one-half the length of the vibration path. The amplitude of a
pendulum is thus one-half the distance that the bob traverses in moving
from one side to the other.
• Waves are generated by vibrating sources, their amplitude being
proportional to the amplitude of the source. The maximum displacement
of a vibrating body from its mean position.
• The amplitude can either be single amplitude (Z) when the distance
from mean position to maximum displacement is measured or double
amplitude (2Z) when the distance from negative maximum to positive
maximum displacement (motion) is measured.
• It is also known as the maximum displacement of a vibrating particle or
body from its position of rest.
•
Mass-Spring-Damper Model
• The basic elements of any mechanical system are the mass, the spring
and the shock absorber, or damper. The study of movement in
mechanical systems corresponds to the analysis of dynamic consists of
discrete mass nodes distributed throughout an object and
interconnected via network of springs and dampers.
2.2 Stiffness Analysis
The stiffness of a helical coil spring is given as:
The longitudinal motion of a block can be modelled by an undampened system. When
the force F is applied to the end of the bar, its change in length is given by;
Illustration:
A tightly wound helical coil spring is made from an 18-mm diameter of 0.2 percent
hardened steel (G = 80 x 108 N/m2). The spring has 80 active coils with a coil diameter
of 16 cm. What is the change in length of the spring when it hangs vertically with one
end fixed and a 200-kg block attached to its other end?
If a moment M is applied to the end of the shaft, the angle of twist at the end of the shaft
is determined from mechanics of materials as;
Considering a mass m is attached to the midspan of a simply supported beam of length
L, elastic modulus E, and cross-sectional moment I. The mass m is much greater than
the mass of the beam; thus the system can be modeled using 1 degree of freedom. The
deflection of a simply supported bean at this midspan due to a concentrated load F
applied at the midspan is;
2.3 Stiffness Factor
1. Springs in Parallel
The springs, as shown, are said to be parallel.
Figure 2.3.1 Springs in Parallel
If the block is subject to an arbitrary displacement x, the change in length of
each spring in the parallel combination is x. The free body diagram shows that
the total force acting on the block is;
2. Springs in Series
The equation for the series combination of springs, as shown in the system,
can be modeled by the equivalent system in the previous equations.
Let x be the displacement of the block at an arbitrary instant. Let xi be the
change in length of the ith spring from the fixed support. If each spring is
assumed massless, then the force developed at each end of the spring has
the same magnitude but opposite in direction. Thus the force is the same in
each spring:
Noting that the force acting on the block of the system for an arbitrary x is
keq x and equating this to the force, leads to:
Figure 2.3.3 Spring magnitude in opposite direction
Illustration:
Model the system as shown. A block is attached to a single spring of an
equivalent stiffness.
The result is the system is shown. When the block has an arbitrary
displacement x, the displacements in each of the springs are the same, and
the total force acting on the block is the sum of the forces developed in the
springs. Thus these springs behave as if they are in parallel and can be
replaced by a spring of stiffness: